\hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel}{}\doxysection{calico\+::sensors\+::Gyroscope\+Scale\+Only\+Model Class Reference}
\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel}\index{calico::sensors::GyroscopeScaleOnlyModel@{calico::sensors::GyroscopeScaleOnlyModel}}


{\ttfamily \#include $<$gyroscope\+\_\+models.\+h$>$}



Inheritance diagram for calico\+::sensors\+::Gyroscope\+Scale\+Only\+Model\+:
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Collaboration diagram for calico\+::sensors\+::Gyroscope\+Scale\+Only\+Model\+:
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\doxysubsection*{Public Member Functions}
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\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_ac20599f4a50ea45f960845c0e27156b2}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_ac20599f4a50ea45f960845c0e27156b2}} 
\mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel}{Gyroscope\+Scale\+Only\+Model}} \& {\bfseries operator=} (const \mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel}{Gyroscope\+Scale\+Only\+Model}} \&)=default
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\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a23a26483438f0df7ecf16bb3b0a5d06c}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a23a26483438f0df7ecf16bb3b0a5d06c}} 
\mbox{\hyperlink{namespacecalico_1_1sensors_a3a17fd4af1cc53c28ec7130fdad5f22d}{Gyroscope\+Intrinsics\+Model}} \mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a23a26483438f0df7ecf16bb3b0a5d06c}{Get\+Type}} () const final
\begin{DoxyCompactList}\small\item\em Getter for gyroscope model type. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a82ee650cdc0b99d5d7099569313662e0}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a82ee650cdc0b99d5d7099569313662e0}} 
int \mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a82ee650cdc0b99d5d7099569313662e0}{Number\+Of\+Parameters}} () const final
\begin{DoxyCompactList}\small\item\em Getter for the number of parameters for this model. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
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{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a412947e33155cf4e9b5cb7210935ae69}{Project}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&omega\+\_\+sensor\+\_\+world)
\item 
{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_afec9eb1bab22b82898e4899df2a387d0}{Unproject}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&measurement)
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Attributes}
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\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_ac4c2039d40b668a3ce99a006b019f265}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_ac4c2039d40b668a3ce99a006b019f265}} 
static constexpr int {\bfseries k\+Number\+Of\+Parameters} = 1
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a2f1ea33478771eaef53f59b3626af90e}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a2f1ea33478771eaef53f59b3626af90e}} 
static constexpr \mbox{\hyperlink{namespacecalico_1_1sensors_a3a17fd4af1cc53c28ec7130fdad5f22d}{Gyroscope\+Intrinsics\+Model}} {\bfseries k\+Model\+Type} = \mbox{\hyperlink{namespacecalico_1_1sensors_a3a17fd4af1cc53c28ec7130fdad5f22da34e2be26dca2101fb95fc6487800e928}{Gyroscope\+Intrinsics\+Model\+::k\+Gyroscope\+Scale\+Only}}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
1-\/parameter isotropic scale intrinsics model. $[s]$ 

\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a412947e33155cf4e9b5cb7210935ae69}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_a412947e33155cf4e9b5cb7210935ae69}} 
\index{calico::sensors::GyroscopeScaleOnlyModel@{calico::sensors::GyroscopeScaleOnlyModel}!Project@{Project}}
\index{Project@{Project}!calico::sensors::GyroscopeScaleOnlyModel@{calico::sensors::GyroscopeScaleOnlyModel}}
\doxysubsubsection{\texorpdfstring{Project()}{Project()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Gyroscope\+Scale\+Only\+Model\+::\+Project (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{omega\+\_\+sensor\+\_\+world }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Returns measurement $\mathbf{f}$, a 3-\/D vector such that \[ \mathbf{f} = s\boldsymbol{\omega}^s_{ws} \]~\newline
~\newline
{\ttfamily omega\+\_\+sensor\+\_\+world} is the angular velocity of the sensor relative to the inertial world frame resolved in the sensor frame $\boldsymbol{\omega}^s_{ws}$. \mbox{\Hypertarget{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_afec9eb1bab22b82898e4899df2a387d0}\label{classcalico_1_1sensors_1_1GyroscopeScaleOnlyModel_afec9eb1bab22b82898e4899df2a387d0}} 
\index{calico::sensors::GyroscopeScaleOnlyModel@{calico::sensors::GyroscopeScaleOnlyModel}!Unproject@{Unproject}}
\index{Unproject@{Unproject}!calico::sensors::GyroscopeScaleOnlyModel@{calico::sensors::GyroscopeScaleOnlyModel}}
\doxysubsubsection{\texorpdfstring{Unproject()}{Unproject()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Gyroscope\+Scale\+Only\+Model\+::\+Unproject (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{measurement }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Inverts the measurement model to obtain angular rate as observed by the sensor. \[ \boldsymbol{\omega}^s_{ws} = \frac{1}{s}\mathbf{f} \] 

The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
calico/sensors/gyroscope\+\_\+models.\+h\end{DoxyCompactItemize}
